2-dim. Positioning and Identification Antenna HG G-98830ZA

Transcription

1 Technical Description 2-dim. Positioning and Identification Antenna English, Revision 01 Dev. by: WM Date: Author(s): RAD/AF Götting KG, Celler Str. 5, D Lehrte - Röddensen (Germany), Tel.: +49 (0) / , Fax: +49 (0) / , techdoc@goetting.de, Internet:

2 Contents Contents 1 Introduction System Components Function Application Example Definitions Mounting Transponder Antenna Commissioning10 4 Components and Operation Components in the Ground Transponders Code structure Transmission-Reception Antenna Connection Power CAN Bus Turn-on characteristics Interfaces Serial (RS 232) List of the system data which can be output List of commands System Monitor CAN Description CAN Message Object 1 (Y Identifier, Transmission Object) CAN Message Object 2 (X Identifier, Transmission Object) CAN Message Object 3 (D Identifier, Transmission Object) CAN Message Object 4 (Transmission Object) CAN Message Object 5 (Reception Object) Data Interface CANopen Description of the Process Data Objects (PDO) Heartbeat Node Guarding Description of the Service Data Objects (SDOs) Object Directory Positioning Pulse English, Revision 01, Date:

3 Contents Software Download Connection Cables Software Terminal Program System Monitor How to start the monitor program Procedure Monitor only Procedures 3964R/transparent How to work with the monitor program Main menu (S)erial Output (T)ime & Code (F)requency & Antenna Tuning C(A)N-Parameters CANopen (D)isplay Systemstatus Cs(v) (Y) Display Histogram (W)rite Transponder (L)oad User parameters to EEProm (U)pdate Firmware Import (1) / export (2) User Parameter P(r)int Parameters Software Update (Antenna Software) Installation of the Program for Software Update Software Update Maintenance Trouble Shooting Technical Data Annex...50 A Procedure 3964R A.1 Data direction Antenna -> PLC...50 A.2 Data direction PLC -> Antenna...51 B Procedure transparent B.1 Data direction antenna -> PLC...51 B.2 Data direction PLC -> antenna...52 C Overview of the CANopen directory C.1 Communication specific Entries within the Range of 0x1000 to 0x1FFF.52 C.2 Manufacturer specific Entries starting at 0x C.3 Standardized Device Profile higher than 0x D Details of the CANopen directory English, Revision 01, Date:

4 Contents D.1 Device Type...55 D.2 Error Register...55 D.3 COB-ID SYNC message...56 D.4 Device Name...56 D.5 Hardware Version...56 D.6 Software Version...56 D.7 Save Parameters...56 D.8 Restore Default Parameter...57 D.9 Producer Heartbeat Time...57 D.10 Identity Object...58 D.11 Transmit PDO_1 Parameter...58 D.12 Transmit PDO_2 Parameter...59 D.13 Transmit PDO_3 Parameter...59 D.14 Mapping TPDO_ D.15 Mapping TPDO_ D.16 Mapping TPDO_ D.17 Device Parameter...62 D.18 Codes for System Configuration...63 D.19 Manufacture Parameter - Node Parameter...64 D.20 8 Bit Digital Input (transmission in TPDO_2)...64 D Bit Status (transmission in TPDO_1)...65 D Bit Transponder Code...65 D.23 8 Bit Analog Inputs...65 D Bit Analog Inputs...66 E EDS Configuration File F Accuracy of the deviation calculation G Mechanical Drawing with Antenna Dimensions List of Figures List of Tables Index Handbook Conventions Copyright and Terms of Liability Copyright Exclusion of Liability Trade Marks and Company Names English, Revision 01, Date:

5 Introduction 1 Introduction The described antenna is designed to be used for positioning and/or trackguiding Automated Guided Vehicles (AGV). All important parameter settings, calibration and updates are carried out via an integrated serial interface or CANopen. Figure 1 Examples of automated vehicles using transponder systems The 2-dimensional Antenna utilizes a concept, which has a large reading area with a constant linear transponder positioning function. As soon as a transponder is underneath the active antenna area its code as well as its deviation from the antenna center in X and Y direction is output. Additionally in X direction a high-precision positioning pulse (posipulse) is output when the transponder crosses the Y axis. Götting transponder antennas have a consistent output format, and enable the user to configure additional system information. This additional information, for example, may be used by an external visualization system (e.g. vehicle control unit with display) and enables statements regarding the condition and availability of antennas and transponders. This system description refers to Transponder Positioning Antenna with the firmware 98830A or higher (also refer to Figure 12 on page 33). English, Revision 01, Date:

6 Introduction 1.1 System Components The 1.5-dimensional Positioning and Identification System using the antenna HG G ZA consists of up to four different components:.1.2 Figure 2 System components 1. Transmitter-receiver antenna incl. interpreter (also refer to section 4.2 on page 15) 2. Transponder within the track; refer to section on page HW DEV00095/HW DEV HG G-71325XA or other matching types 3. Connection cables (not in this picture; refer to section on page 28) 4. Optional Read / Write Unit HG G-81830YA (not in this picture; refer to separate data sheet) 1.2 Function As the antenna passes over the Transponder, it energizes the latter with an energy field of 128 khz. The transponder transmits its code back at half this frequency. The relative Transponder position is measured via coils (this relative position does not provide the knowledge of the heading of the vehicle, as the field of the Transponder is rotation-symmetric to the longitudinal axis of the Transponder). The internal interpreter unit decodes the Transponder code and interpolates the Transponder position diagonally and lengthwise to the direction of travel from the measured values. Each crossing of the Y axis in direction of travel (X axis) generates a English, Revision 01, Date:

7 Introduction positioning pulse of adjustable duration. In addition, various parameters of the antenna, such as current consumption and power supply voltage are measured and may be added to the serial output protocol or sent via CAN bus. 1.3 Application Example Figure 3 Track guiding a vehicle with one antenna The figure shows a vehicle with an antenna frame for track guidance. With the aid of the transponder (T 105) the deviation from the predetermined track is determined (5 mm). With this information, an external computer is able to determine the new direction required to return to the predetermined track as soon as possible (the external computer is not part of the system, we recommend the Götting Navigation Controller HG G-73650). Rotary encoders enable changing the direction of travel whenever necessary. Thus it is possible to switch tracks at predetermined points (T107). Again, the vehicle corrects its position independently upon reaching the next transponder. 1.4 Definitions The definitions and signatures used for this system and in this user s manual are defined according to the following drawing: +X < Direction of Travel > -X Bottom View Active area for positioning -Y < Deviation > +Y Figure 4 Polarity of the deviation For definition of bit Segment see Table 5 on page 18. This bit is set in the half plane -X. English, Revision 01, Date:

8 Mounting 2 Mounting 2.1 Transponder Observe the required minimum distances from metal, as the influence on positioning accuracy and range is dependent upon size and distance of metal parts. For the same reason, the transponder should be mounted as vertically aligned as possible. Please observe the data sheets and mounting instructions for the suitable transponders HG G-71325XA and HW DEV000950/HW DEV Antenna M6 (4x) 317 Top View Position of Mounting Holes Figure 5 Antenna Mounting Holes 317 To prevent any adverse effects on the system: - The Antenna itself may be mounted directly onto metal with its underside. - No closed loop within 300 mm around the antenna, especially around the cover. No metal surfaces nearer than 50 mm (essential antenna connection cabling and special mounting struts excluded). - For perfect operation of the transponder system, it is essential that there are no interfering signals in the frequency range of 64 ±4 khz (e. g. chopped engines, etc.)! English, Revision 01, Date:

9 Mounting - Current-carrying wires have to be far enough away from the antenna (minimum 150 mm) so that their power and frequencies does not influence the antenna too much, its sum voltage in idle mode has to be below 50 and during driving below 100 (guideline: For very high or very small reading distances those values may be higher/lower. The sum voltage without a transponder in the reading area should always be smaller than half the sum voltage that is generated by a transponder within the reading area). The only exception to this rule is the connection cable of the antenna itself. - Transponder antennas with the same energy field frequency may not be positioned too close to each other since then beat frequencies can change the energy supply to the transponders. This can e.g. be observed when the energy consumption of the antenna is not constant or via unsteady reception voltages. Tests with the antenna showed that gaps of 300 mm (in longitudinal and lateral direction) had no effect. If the distance between two antennas shrinks to 200 mm the sum voltage decreases by up to 6 %. Placing two antennas only 100 mm apart the sum voltage sways by +5% to -15%. Decoding and distance calculation still work under those conditions but there is a risk, that set thresholds are undershot. - Steel reinforcement structures located very close to the surface of the runway may transform the Antenna energy in the ground to deviating locations in such a way that the measured Transponder position is a faulty one. - For the complete mechanical drawing please see annex G on page 68. English, Revision 01, Date:

10 Commissioning 3 Commissioning NOTE! Check the operating voltage before connecting! The cables should not lie directly next to power supply cables. Connect the antenna with the vehicle control unit. Connect a laptop to the antenna using the serial interfaces of both devices. Then start the monitor program as described in section 5.2 on page 30. Default Values As standard setting, the system uses the Monitor only setting at baud. However, please pay attention to the fact that these may have been altered by a different user! 1. Move a transponder into reception range. The voltage S shown in the monitor program s status bar should increase considerably. The code must be detected immediately and the number of readings must be continuously counted up to Remove the transponder from the reception range. While no transponder is located within the antenna field, the voltage S must decrease to a very small value. The display of the code and the number of readings, if applicable, remains identical. If this is not the case, interferences in the frequency range of 64 khz are being induced. NOTE! The causes for the interferences should be eliminated as far as possible. If this is not possible it might be possible to avoid the critical frequency area by changing the side band (see section on page 39). 3. In order to adjust the antenna to environmental influences it must be re-calibrated (also refer to section 2.2 on page 8), alternatively activate the function Auto-Tune (refer to section on page 39). As long as no errors have occurred, save any altered parameters and exit the monitor program. If certain parameters are altered, a system reset is necessary (turn off and reactivate the antenna). Where this is applicable is described in the corresponding sections of the monitor program (section 5.2). Now the system has been correctly put into operation. For the correct adjustment of the positioning thresholds the vehicle has to be used in its final operation environment or in a test site that very closely resembles it. 4. In order to set the positioning thresholds position the vehicle over a transponder that is mounted in the track. Initially set the positioning thresholds that a signal that is 50 % weaker than the one received from the transponder still would trigger the generation of a positioning pulse (see section on page 37). 5. In order to set the positioning threshold correctly (refer to section on page 37), it is useful to record a complete test run over the set track. The serial interface of the antenna may be used accordingly (refer to sec- English, Revision 01, Date:

11 Commissioning tion on page 28). For this function Antenna offers the use of the serial interface (refer to section on page 16) or the CAN bus message object 3 (see section Table 9 on page 24). Afterwards adjust the positioning thresholds so that a safe positioning is possible but that is not triggered by side lobes. Figure 6 shows a corresponding driving situation, for readings like this a reasonable threshold for the decoding and the positioning pulse would be between 400 and 600 units. Undisturbed Transponder Decoding Transponder Reading Main field Reception voltage US/units Side lobes Transponder Number Figure 6 Side lobes during a transponder reading NOTE! If during the first driving tests a proper track guidance is not possible try changing the positioning thresholds accordingly. The separately adjustable thresholds are explained in chapter 5 on page 29. In order to explain those thresholds and how to find a proper set-up below the process of a transponder crossing is described. Every 2 ms a check is performed whether the sum voltage exceeds the value Threshold for Decoding. If that is the case the bit TRANS_IN_FIELD is set and the NOISE counter is incremented. Every 8 ms it is attempted to read a code. If a code is read the NOISE counter is reset and afterwards the code is re-read until the Number of equal Codes is reached. If this is successful the bit CODE_OK is set. As soon as the NOISE counter exceeds the threshold Level to Noise Error the bit RX_NOISE is set. The bit CODE_OK is held until either the sum voltage falls below the value Threshold for Decoding or the bit RX_NOISE is set. A new transponder code can only be read when the bit CODE_OK is reset. English, Revision 01, Date:

12 Commissioning This means that if there are high interference voltages in the 64 khz area the antenna will not read a new transponder code after leaving the reception range of a transponder for the period of 2 ms * Level to Noise Error. In case a new transponder enters the reception range during this period the NOISE counter is reset but the old code is held. The following diagrams show examples of recorded data: Undisturbed Transponder Decoding Us C_OK code_count err_count POSI Figure 7 Undisturbed decoding across two transponders Damped Transponder Decoding Us C_OK code_count err_count POSI Figure 8 The same driving situations as shown in Figure 7 only with antenna with wrong calibration English, Revision 01, Date:

13 Commissioning Transponderdecodierung mit Störspannung Us CODE_OK code_count err_count POSI Figure 9 The same driving situation as shown in Figure 7, this time with high noise level When comparing the diagrams one can see that the wrong calibration shown in Figure 8 on page 12 makes the sum voltage drop and thus the reception periods for Code_OK and POSI decrease. This can lead to decoding problems for higher crossing speeds. In Figure 9 on page 13 the code of the weaker transponder is read correctly however the position measuring can no longer be performed correctly. NOTE! Although sum and difference are called voltages those two values are in fact no voltages but logarithmic derivations of the actual voltages. For the test runs two transponders with different signal strengths have been crossed shortly one after the other. The settings were: Variable Set value Level to Noise Error 250 Number of equal Codes 2 Threshold for Decoding 256 Level for Positioning/Calculation 256 Table 1 Reference values for the commissioning runs English, Revision 01, Date:

14 Components and Operation 4 Components and Operation 4.1 Components in the Ground Transponders As reference markers, transponders with the trovan coding are used; e. g. the HG G XA transponder or the types HW DEV00095/HW DEV00098 (read write/rw). Range and accuracy of positioning are influenced by: - any large metal pieces (sheets) on the ground. - proximity of any floor reinforcement - inductive loops, as they are created e. g. by steel building mats, have a greater influence. Individual metal poles have little effect. Those may partially be within the metal-free area. The following environmental conditions have no effect on the system: - snow, ice, water. - oil, tar, earth, dirt, etc Code structure The antenna is set up to receive only block number two with its 20 bits of user data. Line (for 3 bits each) and column parities are used for data protection. The transmission time for a complete code telegram is 8 ms. English, Revision 01, Date:

15 Components and Operation 4.2 Transmission-Reception Antenna Figure 10 Photo Transmission-Reception Antenna The antenna systems and the pre-amplifiers are housed in a casing with the dimensions shown in annex G on page 68. The cables (the connectors) exit at one side of the antenna. The interpreter is integrated in the antenna casing. The electronics are varnished. For a mechanical drawing please see annex G on page Connection The antenna is equipped with three 5-pin M12 connection sockets. The pin allocations are as follows: Power Voltage Supply, Serial Interface and Positioning Pulse. 5-pin M12 connector male. The positioning pulse output is fed from +Ub (24 V) and limited to 20 ma. See chapter 5 on page 29 on how to use the serial signals. Power Pin Signal Annotation 1 +Ub (24 V) Power supply 2 Posi Positioning pulse output 20 ma current limited 3 TxD RS232 data output M12 5-pin male 4 RxD RS232 data input 5 GND Ground (supply) Table 2 Power Interface English, Revision 01, Date:

16 Components and Operation CAN Bus The CAN bus is connected to the device with two 5-pin M12 connectors male/female. They are named CAN1 and CAN2 and are allocated as follows: ATTENTION! Under no circumstance connect +24V with pin 4 or 5! CAN1 CAN2 Pin Signal 1 not used 2 +Ub (24 V) 3 Ground supply 4 CAN_H M12 5-pin female M12 5-pin male 5 CAN_L Table 3 Pin allocations CAN1 and CAN2 NOTE! The connectors of the inputs CAN1/CAN2 are connected in parallel, i.e. there is no input or output. If the interpreter is installed at the end of the bus line, a CAN terminator has to be installed. Those terminators can be ordered from different manufacturers and are available for most plugs and jacks. The CAN connectors can also be used as power supply Turn-on characteristics Upon applying the operating voltage, the antenna requires 10 seconds startup time. During this period, it is possible to start a firmware update (also refer to section on page 28). Following this period, the actual program starts. If configured accordingly (also refer to Figure 16 on page 39), the transmission coils will be automatically tuned. This procedure takes another 16 seconds Interfaces Serial (RS 232) The serial output may be configured in various ways. The transmission rate is adjustable at or Bd, the output protocol may be chosen as either Montir only, transparent or 3964R, the content of the output telegrams is configurable for the last two. From a parameter list the required parameters may be selected. English, Revision 01, Date:

17 Components and Operation List of the system data which can be output One Telegram consists of max. 24 user bytes. The minimum update rate at Bd is then calculated as follows: Figure 11 Byte Bit Bit ms = Telegram Byte s Telegram Formula: minimum update rate As the transmission is binary, it is possible to add further (DLE) characters to the procedure when using the 3964R-procedure. All multiple-byte variables are output either with HighByte first or LowByte first (adjustable)! The 8 bit check sum is only output when using the transparent protocol and includes the start pulse. The start pulse, as well as the check sum (protocol transparent), cannot be removed from the data block. Table of the data words of a telegram with 23 byte length. Byte # Length Value Type Description 1 1 Byte 0x ASCII-061: = Start sync (Default: = ) 2,3 2 Byte 0x signed int Y-Position: Y [mm] within the range of In case of an invalid value (no Transponder detected) = ,5 2 Byte 0x signed int X-Position: X [mm] within the range of In case of an invalid value (no Transponder detected) = ,7,8,9 4 Byte 0x unsigned long 20 bit of the Transponder code (R/W Transponder) 10,11 2 Byte 0x unsigned int voltage generated by the Transponder in the reference coil in [units] (Usum) 12,13 2 Byte 0x signed int Voltage generated by the transponder in the positioning coil in [units] (Udif) 14 1 Byte 0x unsigned char operational voltage of the Antenna [100 mv] 15 1 Byte 0x unsigned char power consumption [10 ma] 16 1 Byte 0x signed char temperature within the antenna [ o C] 17 1 Byte 0x unsigned char number of code readings during the latest Transponder crossing 18,19 2 Byte 0x unsigned int receiver frequency [10 Hz] 20,21 2 Byte 0x unsigned int transmitter frequency [10 Hz] 22,23 2 Byte 0x unsigned int system status in binary encoding, see Table 6 on page 19 (24) 1 Byte unsigned char check sum, only in transparent protocol! Table 4 Data words in a telegram with 23 byte length English, Revision 01, Date:

18 Components and Operation In the following table you will find a list of the binary codes used to describe the system status (for byte # 20 and 21 in Table 4): Value Name Description 0x0001 DEC_HW_ERROR code decoder hardware error 0x0002 CODE_PAR_ERR reception of transponder code with parity error or Hi-Nibble received 0x0004 RX_NOISE Set whenever TRANS_IN_FIELD was set but no codes were received 0x0008 0x0010 EEPROM_ERROR parameter E²Prom not addressable 0x0020 PARAM_CRC_ER parameter block not safe 0x0040 POT_ERROR IIC-Bus Potis not addressable 0x0080 F_ERROR Transmitting or receiving oscillator not tuned to the set frequency 0x0100 ESTIMATE_Y Diagonally to direction of travel: If the exact Transponder Position cannot be determined due to wrong reading distances or e. g. steel reinforcements in the ground, an estimated value with the accuracy of ±10 mm is determined and this bit is set 0x0200 TRANS_IN_FIELD transponder is being detected *) 0x0400 CODE_OK Code decoded without errors *) 0x0800 SEGMENT The transponder is located within the area marked -X in Figure 4 on page 7 *) 0x1000 POSIPULS Transponder has crossed the Antenna center 0x2000 ESTIMATE_X In direction of travel: If the exact Transponder Position cannot be determined due to wrong reading distances or e. g. steel reinforcements in the ground, an estimated value with the accuracy of ±10 mm is determined and this bit is set 0x4000 0x8000 Table 5 Example: Possible system status messages *) These bits are deleted as soon as the Transponder leaves the Antenna reception range. System status 0x0014 means EEPROM_ERROR and RX_NOISE. This status message 0x0002 may also occur during an ordinary transponder crossing, if the code transmission is aborted due to decreasing output level. English, Revision 01, Date:

19 Components and Operation List of commands A command telegram always consists of four bytes, including the actual command and the parameters. When using the procedure transparent it is, in addition, necssary to transfer one start character and a check sum (XOR operation of all bytes including the start character). There are 21 predefined commands: NOTE! No. Procedure Start Command Bytes Parameter Bytes Check Sum *) Description R 3964R 3964R 3964R The table below is valid for 'High Byte First'-transmission. For 'Low Byte First'-transmission the order of command and parameter bytes has to be changed. The duration of 'Tune Antenna Once'-command is maximal 10 seconds for 16 tuning steps. The monitor mode should not be used during normal operation (e. g. from a PLC), as the following signal output is not according to a transparent or 3964R protocol but only suitable for output on a VT52-terminal and used for the manual alteration of parameters. transparent transparent transparent transparent HEX 4D 16 4F 16 4E Switch to monitor mode ASCII MO NI (description in section 5.2 System Monitor on page HEX 3D 16 4D 16 4F 16 4E ) ASCII = MO NI 8 HEX E Tune antenna once ASCII TU NE HEX 3D E ASCII = TU NE 7 HEX Set tuning value to 1 ASCII ST 01 HEX 3D ASCII = ST 01 8 HEX Set tuning value to 2 ASCII ST 02 HEX 3D B 16 ASCII = ST 02 ; Table 6 List of the system commands (part 1 of 4) English, Revision 01, Date:

20 Components and Operation No. Procedure Start Command Bytes Parameter Bytes Check Sum *) Description R 3964R 3964R 3964R 3964R 3964R 3964R transparent transparent transparent transparent transparent transparent transparent HEX Set tuning value to 3 ASCII ST 03 HEX 3D ASCII = ST 03 9 HEX Set tuning value to 4 ASCII ST 04 HEX 3D E 16 ASCII = ST 04 > HEX Set tuning value to 5 ASCII ST 05 HEX 3D F 16 ASCII = ST 05? HEX Set tuning value to 6 ASCII ST 06 HEX 3D C 16 ASCII = ST 06 < HEX Set tuning value to 7 ASCII ST 07 HEX 3D D 16 ASCII = ST 07 = HEX Set tuning value to 8 ASCII ST 08 HEX 3D ASCII = ST 08 2 HEX Set tuning value to 9 ASCII ST 09 HEX 3D ASCII = ST 09 3 Table 6 List of the system commands (part 2 of 4) English, Revision 01, Date:

21 Components and Operation No. Procedure Start Command Bytes Parameter Bytes Check Sum *) Description R 3964R 3964R 3964R 3964R 3964R 3964R transparent transparent transparent transparent transparent transparent transparent HEX Set tuning value to 10 ASCII ST 10 HEX 3D B 16 ASCII = ST 10 ; HEX Set tuning value to 11 ASCII ST 11 HEX 3D A 16 ASCII = ST 11 : HEX Set tuning value to 12 ASCII ST 12 HEX 3D ASCII = ST 12 9 HEX Set tuning value to 13 ASCII ST 13 HEX 3D ASCII = ST 13 8 HEX Set tuning value to 14 ASCII ST 14 HEX 3D F 16 ASCII = ST 14? HEX Set tuning value to 15 ASCII ST 15 HEX 3D E 16 ASCII = ST 15 > HEX Set tuning value to 16 ASCII ST 16 HEX 3D D 16 ASCII = ST 16 = Table 6 List of the system commands (part 3 of 4) English, Revision 01, Date:

22 Components and Operation No. Procedure Start Command Bytes Parameter Bytes Check Sum *) Description R transparent HEX E8 16 Set postioning level ASCII SP **) (0 <= level < 1024) HEX 3D E8 16 ***) ASCII = SP **) **) **) No ASCII-coded values ***) Check sum depending on the parameters used. Examples: - Level should be set to 1000 (3E8 16 ) The transparent telegram is: 3D E8 16 D Level should be set to 300 (12C 16 ) The transparent telegram is: 3D C R transparent HEX Deletes the previous programming ASCII PL command HEX 3D E 16 ASCII = PL R transparent HEX ASCII HEX ASCII 3D 16 = C 16 PL C 16 PL Code in the format tt 16 tt 16 For code 1234 e.g Supply of the 16 programmable lower bits of the transponder code R Supply of the programmable higher bits of the transponder code and start of the programming procedure transparent HEX ASCII HEX ASCII 3D 16 = PH PH Code in the format tt 16 tt 16 For code 1234 e.g Table 6 List of the system commands (part 4 of 4) *) XOR operation of all bytes including the start character. Depending on the parameters used. **) No ASCII-coded values System Monitor The system may be configured via menus in monitor mode. Refer to section 5.2 System Monitor on page 30. English, Revision 01, Date:

23 Components and Operation CAN Description The internal CAN module is based on the CAN specifications V2.0 part B. Standard or Extended frames are transmitted (configurable). It is also possible to configure the bit timing as well as the identifier within the system monitor (refer to section 5.2 on page 30). Different CAN message objects can be output. In addition it is configurable whether telegrams are to be output permanently at the set update rate or only as long as a Transponder is within range. Remote operation is also possible. Objects are activated within the CAN menu, through the input of an address unequal 0 (refer to section on page 40). Message Object 3 is used for the analysis of the system behavior CAN Message Object 1 (Y Identifier, Transmission Object) Byte # Length Type Description 1,2 2 Byte unsigned int System status information according to Table 5 on page 18 3,4,5,6 4 Byte unsigned long 20 Bit Transponder code (R/W Transponder) 7,8 2 Byte signed int Deviation Y [mm] Table 7 Structure of the CAN Message Object 1 Y Identifier CAN Message Object 2 (X Identifier, Transmission Object) Byte # Length Type Description 1,2 2 Byte unsigned int System status information according to Table 5 on page 18 3,4,5,6 4 Byte unsigned long 20 Bit Transponder code (R/W Transponder) 7,8 2 Byte signed int Deviation X [mm] Table 8 Structure of the CAN Message Object 2 X Identifier English, Revision 01, Date:

24 Components and Operation CAN Message Object 3 (D Identifier, Transmission Object) Byte # Length Type Description 1,2 2 Byte unsigned int Voltage within the sum antenna generated by the Transponder 3,4 2 Byte signed int Voltage within the difference antenna generated by the Transponder 5 1 Byte unsigned char Number of code readings during the last valid Transponder crossing 6 1 Byte unsigned char Operating voltage (refer to Telegram description in Table 4 on page 17) 7 1 Byte unsigned char Operating current (refer to Telegram description in Table 4 on page 17) 8 1 Byte signed char Operating temperature (refer to Telegram description in Table 4 on page 17) Table 9 Structure of the CAN Message Object 3 D Identifier CAN Message Object 4 (Transmission Object) This message object is only used for special applications that are not part of the scope of this documentation. Normal operation is possible regardless of what this object is set to CAN Message Object 5 (Reception Object) It is possible to send commands to the antenna via Message Object 5. It has the same ID as Message Object 1 and a length of 6 bytes. Byte # Length Type Description 1,2 2 Byte Unsigned int Command (see Table 11 below) 3,4,5,6 4 Byte Unsigned long Parameter (see Table 11 below) Table 10 Structure of the CAN Message Object 5 Command Meaning Parameter No command Tune antenna once Set tuning value Tuning value to Set positioning level Positioning level to E Program transponder Transponder code in the range 0x to 0x000F.FFFF 16 Table 11 Coding of the commands of CAN Message Object 5 English, Revision 01, Date:

25 Components and Operation The programming is started by sending in the command bytes of CAN Message Object 4. The code to be programmed has to be sent in the 4 parameter bytes. All those bytes should be reset after 8 to 100 ms. The one-time programming process takes 100 to max. 200 ms. Afterwards the new code can be read immediately via the corresponding Message Object. If the programming process fails it is to be repeated. A new programming is only triggered whenever the command byte is switched from to Data Interface CANopen The node ID and the transmission rate have to be selected either according to the above described serial monitor or the corresponding SDOs. The measured values of the system are transmitted via so-called TxPDOs. SDOs are used for parameter setting. The CAN identifiers are derived from the node address (1..127) Description of the Process Data Objects (PDO) Fixed places are allocated within the PDO for the measured values. Dynamical mapping is not possible. It is possible to operate the PDO mode either cyclic, synchronous or asynchronous. In order to avoid excessive bus usage due to frequent changes during asynchronous non-cyclic transmission (Event-Time = 0), it is possible to set the so-called Inhibit time within the CAN menu of the serial monitor. It is, however, possible to transmit a PDO cyclically. In this case, it is necessary to select the Event Time accordingly and also set the Inhibit Time = 0. It is possible to permanently deactivate a TxPDO by selecting the asynchronous mode (255) with Inhibt Time = 0, Event time = 0 and storing the parameters. In addition, it is possible to temporarily deactivate/activate the TxPDO by setting/deleting the highest ranking bit within the corresponding PDO COB Identifier. PDO_1 is transmitted with identifier 0x180 + node address. It contains 8 bytes, which include, amongst others, the status indicated in serial monitor. The transmission sequence is status, transponder code and deviation of the transponder position. Value Variable Value range Comment Status unsigned xffff Status bits according to Table 5 on page 18 Code unsigned ffff.ffff 20 bit transponder code (R/W Transponder) Deviation signed 16 0xff83...0x007d Y-deviation, ±125 mm In case of an invalid value (e.g. no transponder detected) = Table 12 Variables of PDO_1 English, Revision 01, Date:

26 Components and Operation PDO_2 is transmitted with identifier 0x280 + node address. It contains 8 bytes, which include, amongst others, the status indicated in serial monitor. The transmission sequence is status, transponder code and deviation of the transponder position. Value Variable Value range Comment Status unsigned xffff Status bits according to Table 5 on page 18 Code unsigned ffff.ffff 20 bit transponder code (R/W Transponder) Deviation signed 16 0xff83...0x007d X-deviation, ±125 mm In case of an invalid value (e.g. no transponder detected) = Table 13 Variables of PDO_2 PDO_3 is transmitted with identifier 0x380 + node address. It contains 8 bytes according to the following table. Value Variable Value range Comment Sum Voltage unsigned Voltage of the reference antenna coil Dif Voltage signed ±1023 Voltage of the positioning coil Codes read unsigned Number of code readings Voltage unsigned Operating voltage of the antenna [100 mv] Power unsigned Power consumption of the antenna [10 ma] Temperature signed Board temperature [ o C] Table 14 Variables of PDO_3 The synchronous identifier is 0x80. It is possible to read out this parameter under index [1005,00], but it is not possible to change it Heartbeat The heartbeat mode is supported. Whenever a heartbeat time > 0 is set in the CAN menu, the device status is transmitted under identifier (0x700 + node address) each time the heartbeat timer has expired. The guard time is set to 0 afterwards. Node status stopped preoperational operational Code 0x04 0x7f 0x05 Table 15 Coding of the Node status English, Revision 01, Date:

27 Components and Operation Node Guarding Whenever the Heartbeat time is set to 0, the device replies to a Remote Transmission Request of the Identifier (0x700 + Node address) with the device status (refer to Table 15 above), while the highest bit changes. The device does not monitor the timely reception of RTR Frames Description of the Service Data Objects (SDOs) The service data opject is used to access to the object index. An SDO is always transmitted with a confirmation, i. e. each reception of the message is acknowledged. The identifiers for read and write access are: Read access Write access 0x600 + Node address 0x580 + Node address Table 16 Identifiers for read and write access The SDO telegrams are described in the CiA standard DS-301. The error codes in case of faulty communication are listed in the following table: Name Number Description SDO_ABORT_UNSUPPORTED 0x non-supported access to an object SDO_ABORT_READONLY 0x write access to a read-only object SDO_ABORT_NOT_EXISTS 0x object not implemented SDO_ABORT_PARA_VALUE 0x Parameter value range exceeded SDO_ABORT_PARA_TO_HIGH 0x Parameter value too high SDO_ABORT_SIGNATURE 0x The signature load or save was not used for loading or saving parameters. Table 17 Error codes Object Directory All objects relevant for the device are included in the CANopen Object Directory. Each entry is indicated by a 16 bit index. Sub-components are indicated by a 8 bits subindex. RO indicates only readable entries. The complete object directory is listed in appendix C on page Positioning Pulse The digital positioning output indicates the antenna center crossing in direction of travel. Its duration can be set within a millisecond pattern. Furthermore it is possible to limit it to one pulse per crossing. It is possible to freeze the value of deviation in the serial telegrams at the time of the positioning pulse for an adjustable number of telegrams (refer to section (S)erial Output on page 35 and C(A)N-Parameters on page 40). English, Revision 01, Date:

28 Components and Operation Software Download If necessary, the Antennas may be updated via the serial interface. Please refer to section 5.3 Software Update (Antenna Software) on page Connection Cables Connection cables are not part of the scope of supply. The needed kind of cables are commercially obtainable at many manufacturers (e. g. Binder M12 line 2 m PUR 5 x 025), the standard length is 2 m.. NOTE! If a high interference level is expected shielded cables ought to be used. English, Revision 01, Date:

29 Software 5 Software The system can be configured via an antenna internal software. To enter the program, you have to connect the serial interface of an ordinary PC to the serial interface of the antenna. Once all the connections have been set up, start a terminal program on the PC. For the connection to be established the serial interface of the PC has to be connected to the serial interface of the antenna. The serial interface of the antenna is integrated into its power interface. The user needs to tailor cables for connecting the antenna pins listed below to the PC and a power supply. Antenna Power Pin Signal 9-pol. Sub D Interface PC, pins not listed are not to be connected Power supply 1 +Ub (24 V) 24V, 2A 2 Posi 3 TxD Pin 2 M12 5-pin male 4 RxD Pin 3 5 GND Pin 5 Ground Table 18 Power Interface 5.1 Terminal Program In the following we refer to the program HyperTerminal ( hyperterminal/). At you can download matching configuration files for HyperTerminal. Nevertheless, any other terminal program can be utilized, provided that it supports VT52 emulation. If you should use a different program, please read its documentation carefully and adjust it to the values given in Table 19 below. The following parameter settings are necessary. Terminal settings monitor program (refer to section 5.2) baud rate terminal emulation parity or Bd depending on the system configuration, default Bd VT52 even data bits 8 stop bits 1 Table 19 Terminal settings for the monitor program (part 1 of 2) English, Revision 01, Date:

30 Software Terminal settings monitor program (refer to section 5.2) character delay line delay PC interface (port) 1 ms 0 ms COM1 can vary depending on the PC (see below) Table 19 Terminal settings for the monitor program (part 2 of 2) If you are using a different port than COM1 with HyperTerminal, then adjust the port as follows: 1. Select Properties from the menu file (or click the Icon ). The following window appears: 2. Choose the direct connection to the respective port via the submenu direct connection. Confirm with. Save the altered values if you are asked for it while exiting HyperTerminal. 5.2 System Monitor In monitor mode the system can be configured using the corresponding menu. To use the monitor mode you need to know which protocol is set in your antenna. The possible communication procedures are: Modus Description Monitor only Default mode, see section on page R Transparent For direct PLC communication, see annex A on page 50 For direct PLC communication, see annex B on page 51 Table 20 Monitor modes For changes to the modes and data rates see section on page 35. English, Revision 01, Date:

31 Software How to start the monitor program Depending on the currently active procedure, the monitor program is started differently Procedure Monitor only If the antenna is set to the procedure Monitor only, the monitor mode is started 10 s after switch on. In this case no files have to be transmitted and section may be ignored Procedures 3964R/transparent The command to switch to monitor mode should be entered directly via a PC. To do so, start your terminal program. For the startup, as set of configuration files is necessary (small text files and HyperTerminal configuration files). These files are accessible always in the latest version from our internet server at components/transponderconf for download. Start your terminal program. If you are using HyperTerminal (see section 5.1 on page 29) it can now be started directly by double clicking the respective *.ht file (Monitor19200.ht at Bd and Monitor38400.ht at Bd). If necessary, adapt the COM-port. Following the switching on and a minimum period of 10 (respectively 26 when autotune is activated) seconds, you may transfer the required *.txt file using the terminal program. The following four files are available: 1. Mon3964r.txt Transfer if the system is adjusted to procedure 3964R with HighByte first. The file contains the characters: 0x02 0x4D 0x4F 0x4E 0x49 0x10 0x03 0x16 in hexa-decimal notation 2. Mon6439r.txt Transfer if the system is adjusted to procedure 3964R with LowByte first. The file contains the characters: 0x02 0x4F 0x4D 0x49 0x4E 0x10 0x03 0x16in hexa-decimal notation 3. Montrans.txt Transfer if the system is adjusted to procedure Transparent with HighByte first. The file contains the characters:0x3d 0x4D 0x4F 0x4E 0x49 0x38 in hexa-decimal notation. 4. Transmon.txt Transfer if the system is adjusted to procedure Transparent with LowByte first. The file contains the characters:0x3d 0x4F 0x4D 0x49 0x4E 0x38in hexa-decimal notation English, Revision 01, Date:

32 Software Using HyperTerminal the file is transferred as follows: 1. Select Send Text file in the menu Transfer. The following window will appear: 2. Switch to disc drive (in our example, the files are located on the hard disc) and select the respective *.txt file. 3. Click. The file will be transferred and (if the correct file has been selected) the monitor program will be started. The menus will then appear directly within the HyperTerminal Window. First, the main menu from Figure 12 on page 33 will appear How to work with the monitor program Any change to the interface parameters will be only activated after a system reset (turn antenna off and on). Afterwards it may be necessary to use a different file from the four given *.txt documents to start the monitor! After the transfer of the *.txt file (refer to section 5.2.1) the monitor program starts with the main menu. If it does not, you have either based your settings on a wrong system configuration, or you are using a different terminal emulation and did not adjust the character delay to 1 ms, or you did not wait at least 10 s (resp. 26 s) after activating the Antenna. English, Revision 01, Date:

33 Software Main menu S:0006 D:+006 D_X: D_Y: Code: Read: 42: N: 0 Frx[/Hz]:66800 Ftx[/Hz]: U[/mV]:24000 I[/mA]: 270 T[Grd.C]:+33 E: 0002 Noise 0 (S)erial Output (T)ime & Code (F)requency & Antenna tuning Basic C(A)N-Parameters CA(N)-Open-Parameters (D)isplay Systemstatus Cs(v) [38,4 KB Code,Us,X,Y,Tr,Co,S-,Pos,N,E,Cnt<crlf>] (abort with <a>) (Y) display Histogram (W)rite Transponder [L]oad Userparameters to EEProm [U]pdate Firmware (1) Import User Parameter from Host to Antenna (2) Export User Parameter from Antenna to Host P(r)int Parameters Figure 12 (Q)uit Monitor Software Version 98830A / Oct Serial Number: 0 Main menu of the monitor program Each of the monitor menu windows contains important system variables in the upper four lines (also refer to Table 21), as they also appear in the output telegram (described in section on page 17). The bottom line of the screen contains possible status messages, e. g. if allowed values ranges were not obeyed during input. Description of the system variables S Measured voltage of the sum coil in units (max. 1023) D Measured voltage of the positioning coil in units (max. 1023) D_X [mm] Transponder position in the direction of travel in millimeters (max. ±125, when position invalid) D_Y [mm] Transponder position rectangular to the direction of travel in millimeters (max. ±125, when position invalid) Code Read N Frx [Hz] and Ftx [Hz] The data bits of the Transponder in hexa decimal coding. The code is recorded as soon as voltage S exceeds the Threshold for Decoding (refer to Figure 15 on page 37) The number of code readings per Transponder crossing (max. 255). This value is being stored until a new Transponder code has been detected. May be deleted by noise Number of reading errors per Transponder crossing. This value is stored until a new Transponder has been detected Display of important system frequencies for transmission and reception. These frequencies are permanently monitored and are included in the system status word E (see below) Table 21 Description of system variables (monitor program) (part 1 of 2) English, Revision 01, Date:

34 Software Description of the system variables U [mv] I [ma] T [Grd.C] Supply voltage of the processor board measured with an accuracy of 100 mv. This voltage is, due to various safety measures, always a little lower than the connected overall supply voltage Current consumption of the positioning unit measured with an accuracy of 10 ma Average temperature measured in steps of 5 o C E Hexa decimal system status. The description of the individual bits is included in Table 5 on page 18 Noise Output of a counter: - Whenever the sum voltage S exceeds the Threshold for Decoding the counter is increase every 8 ms until it reaches the value of Level to Noise Error. - Whenever S falls under this threshold, the counter counts backwards towards 0. When a code is decoded, the counter is immediately set to 0. This mechanism checks whether a Transponder or a foreign signal is received. Every time this counter exceeds an adjustable value (refer to section (T)ime & Code on page 37), the system status bit RX_NOISE is set. Table 21 Description of system variables (monitor program) (part 2 of 2) Further menus are activated via input of the (characters in brackets). Before altered values are transferred into the permanent memory, they have to saved as described in section on page 44. This prevents unwanted alterations of values. With you can see the system status in clear in plain text. Input of will exit each menu. The following sections describe the submenus - ( )erial Output (section on page 35) - ( )ime & code (section on page 37) - ( )requency & Antenna tuning (section on page 39) - C( )N Parameters (section on page 40) - CA( )open Parameters (section on page 41) - isplay Systemstatus ( on page 43) - Cs( ) (section on page 43) - ( ) display Histogram (section on page 43) - ( )rite transponder (section on page 44) - ( )oad values to EEProm (section on page 44) - ( )pdate Firmware (section on page 44) - ( ) Import / ( ) Export User Parameter (section on page 44) and - P( )int Parameters (section on page 45). English, Revision 01, Date:

35 Software (S)erial Output Any changes within this sub menu are activated only after a system reset (switching the antenna off and on again). Depending on the alterations made, it may become necessary to use a different baud rate / different text document for the startup of the monitor (section on page 31). S:0006 D:+006 D_X: D_Y: Code: Read: 42: N: 0 Frx[/Hz]:66800 Ftx[/Hz]: U[/mV]:24000 I[/mA]: 260 T[Grd.C]:+33 E: 0000 Noise 0 (B)audrate: (P)rocedure 3964R (O)rder of Data Transfer (0= HiByte first): 0 (T)elegram Content Mask [0..1FFF]: 00001fff (D)isplay Telegram Content (C)har-Delaytime [1..220ms]: 220 (A)ck-Delaytime (3964R) [1.1680ms]: 1680 Co(n)tinous Telegrams 0 (S)erial Data Period [4.500mS]: 8 (F)reeze Values for n Telegrams:[0..10]: 0 (Q)uit Menue Figure 13 Menu: (S)erial Output Pressing switches between and Bd. Pressing generates the selection of the corresponding telegram procedure 3964R, transparent or monitor only. For procedure 3964R it is also possible to set the acknowledgment delay time. Pressing selects between high byte first and high byte last. When using this system together with a Siemens PLC it is essential, that this parameter is 0 (High Byte first). enables influencing the structure of the output telegram. The telegram length is changed automatically. According to the values given in Table 4 Data words in a telegram with 23 byte length on page 17, it is possible to set the customized contents of the telegram using hexadecimal addition. The parameter sequence cannot be influenced. It is always the same sequence as shown in the table! Example Only the Lateral Displacement Y, the Code and the System Status are to be output. Add, according to the table the values 0x , 0x , 0x and 0x The result is 0x080b. Therefore the input for the ( )elegram Content Mask is 0x080b. English, Revision 01, Date:

36 Software Using ( )isplay Telegram Content it is possible to review the generated telegram (see Figure 14 below). The shown case has a mask value of 0x0000.0fff and the telegram length is 21. Pressing any key generates the return to menu Serial Output. S:0006 D:+006 D_X: D_Y: Code: Read: 42: N: 0 Frx[/Hz]:66760 Ftx[/Hz]: U[/mV]:24000 I[/mA]: 260 T[Grd.C]:+33 E: 0000 Noise 0 STX 1 Bytes from Position: 1 Delta_Y 2 Bytes from Position: 2 Delta_X 2 Bytes from Position: 4 CODE 4 Bytes from Position: 6 Usum 2 Bytes from Position: 10 Udif 2 Bytes from Position: 12 Vcc 1 Bytes from Position: 14 Current 1 Bytes from Position: 15 Temp. 1 Bytes from Position: 16 CodesRd 1 Bytes from Position: 17 Rx-Freq 2 Bytes from Position: 18 Tx-Freq 2 Bytes from Position: 20 STATUS 2 Bytes from Position: 22 Figure 14 (Q)uit Menue Menu: (D)isplay Telegram Content Parameter ( )har Delaytime is the so-called Character Delay Time for procedure 3964R (refer to appendix A Procedure 3964R on page 50) and the timeout time for incoming characters transparent mode (refer to appendix, section B Procedure transparent on page 51). enables choosing between the permanent output according to the set erial Data Period (1), or output only whenever a Transponder is decoded within the reading range (0). enables freezing the serial output for 0 to 10 telegrams, i. e. the value at the time of the positioning pulse output is preserved. English, Revision 01, Date:

37 Software (T)ime & Code This menu enables setting the values for the Transponder decoding, the position calculation and the positioning pulse. S:0006 D:+006 D_X: D_Y: Code: Read: 73: N: 0 Frx[/Hz]:66800 Ftx[/Hz]: U[/mV]:24000 I[/mA]: 270 T[Grd.C]:+33 E: 0000 Noise 0 (B)Level to Noise Error [ ]: 1000 (S)elect Code Channel S (H)igh-Nibble of RW-Code [0..F,>F]: 10 (N)umber of equal Codes [0..15]: 1 (T)hreshold for Decoding [ ]: 256 PosiPulse (a)fter Decoding 1 (L)evel for Positioning/Calculation [ ]: 256 (P)osi-Pulse Time [n*1ms]: 100 (O)ne Positioning Pulse per Crossing 0 (X) Timed Positioning Pulse 1 (C)CODE_OK -> POSI_OUT 1 Th(r)eshold MAX-Detection [ ]: 400 (Q)uit Menue Figure 15 Menu: (T)ime & Code enables setting the threshold for generating the bit RX_NOISE of the system status word as described in Table 21 on page 33 under Noise. With it is possible to select which of the two existing receiver channels is used for the code transfer. Usually this will be the S-channel (sum channel). It is, however, possible to select the difference channel for reasons of interference minimization. NOTE! If you are using the difference channel, the code will fall away in the middle (at the zero point) within a very limited area. As the Trovan technology secures the code transmission only via a simple parity check, two additional security strategies were implemented: 1. When using RW transponders it is possible to verify the four highest bits via a preset value (0-F). enables setting this value, which then has to be programmed into the transponders together with the code. For entries larger F, this verification is switched off. 2. It is possible to choose the number of codes to be compared between 0 and 15 with. With 0 the received code is immediately output, with 1 the code is compared with the very last code received just before this one, etc. Note, that this procedure reduces the maximum crossing speed, because the necessary transmission time increases accordingly with (n+1) x 8 ms. English, Revision 01, Date:

38 Software enables setting the voltage value S which is the threshold for releasing the positioning pulse output in order to eliminate false calculations due to antenna side lobes (see Figure 6 on page 11). releases the output of a positioning pulse only after the decoding of a Transponder. In an interference laden environment this will avoid false positioning pulses. This filter function reduces the maximum crossing speed, since the preset number of codes has to be read in time before the antenna center is reached. With it is possible to determine the voltage threshold S at which the decoding and position calculation is started, in order to suppress decoding cycles with a too weak signal. The duration of the positioning pulse is adjustable by pressing within a 1 ms pattern. With it is possible to set whether with each crossing of the center axis of the Antenna, a positioning pulse is to be generated (e. g. during a back-and-forth movement directly above a Transponder). If not, only one pulse per Transponder crossing is output. In order to release this again the voltage S would then have to fall under the Threshold for Calculation-Positioning (refer to section on page 35). With it can be chosen whether the Posipulse and the corresponding bit in the system status are turned off after the preset time or after the sinking of voltage S below the threshold determined with. is used to define the behavior of the Posipulse output. With the positioning pulse is switched to the output, with the bit CODE_OK is switched to the output. enables setting a threshold for the scan coils which has to be reached in order to activate the calculation of the lateral deviation in Y direction. NOTE! For the determination of he thresholds see chapter 3 on page 10. English, Revision 01, Date:

39 Software (F)requency & Antenna Tuning S:0006 D:+006 D_X: D_Y: Code: Read: 73: N: 0 Frx[/Hz]:66800 Ftx[/Hz]: Csel:1 U[/mV]:23100 I[/mA]: 530 T[Grd.C]:+24 E: 0002 Noise 0 (R)x_Frequency [/Hz]: ( Hz) A(u)to-Tune 0 (A)ntenna-Tuning [0..15,+,-]: 4 switch (T)ransmitter: 1 (Q)uit Menue Figure 16 Menu: (F)requency & Antenna Tuning The receiver frequency ( )x is calculated with F ZF = 455 khz and the bandwidth B = 5.5 khz according to the following formula: Figure 17 F rx = 4 F ZF 64 khz +- B Formula: Calculation of the receiver frequency As this is a SSB-reception, according to the above mentioned formula the lower sideband should be set to Hz and the higher sideband to Hz (see chapter 3 on page 10). NOTE! It is possible to enter values between 0 and This is necessary for testing purposes. In practice Hz resp Hz have proven to be optimal. With or with the or keys you may tune the transmitting antenna by switching the power consumption to max. (resulting in the largest reception range). enables switching the transmitter on (1) or off (0) for control reasons. is automatically set to 1 upon leaving the monitor. enables activating auto tuning. Following each system switch on, the transmitter cycle is retuned. This procedure takes approx. 16 sec. After that, every 10 sec. the tuning is checked (as long as there is no transponder within the field) and re-tuned if necessary. For correct operation the antenna has to be re-started after activating this function. English, Revision 01, Date:

40 Software C(A)N-Parameters This menu enables setting the various CAN Bus parameters. In order to be able to use the CAN bus interface it is necessary to activate it by pressing. SR = 63: ACK ERROR / / / EWRN / (!)Antenna-ID: front (01) (C)AN active YES (E)xtended CAN STANDARD (Y)dentifier: TX [ ]: 80 (X)-Identifier: TX [ ]: 82 (D)-Identifier: TX [ ]: 81 (S)-Identifier: TX [ ]: 0 CAN-(B)aud [20,50,125,250,500,1000 kb]: B(R)P Baudrate Prescaler [0..63]: 1 S(J)W Sync Jump Width [0..3]: 0 Tseg(1) [2..15]: 15 Tseg(2) [1..7]: 2 sp: 80 % (P)eriod [4.500mS]: 8 Co(n)tinous Telegrams 1 CAN on Re(m)ote Request 0 (F)reeze Values for n Telegrams [0..20]: 0 (O)rder of Data Transfer (0= HiByte first): 0 (Q)uit Menue Figure 18 Menu: C(A)N-Parameters NOTE! The functions and refer to a special function that is not part of the scope of the current documentation. Normal operation is possible regardless of how these are set. Entering enables the generation of telegrams either as standard frames according to CAN2.0A or as extended frames according to CAN2.0B. Correspondingly it is possible to either set the dentifiers (CAN addresses) as 11 bit value (0-2047) or as 29 bit value ( ). The identifier selectable under corresponds to the transmitted frames for the Message Object 1 (Table 7 on page 23). The identifier selectable under refers to the Message Object 2 (Table 8 on page 23), refers to the Message Object 3 (Table 9 on page 24). Input of 0 deactivates the corresponding Message Object. CAN audrate: You can either select a predefined data rate or configure the bit timing with / / /. The resulting baudrate and sample point are displayed immediately. NOTE! Usually the predefined baud rates should work for most applications. Only change the bit timings if you really know what you do! switches between a permanent output according to the Period with (1) and only generating the output whenever a Transponder is decoded within the field (0). English, Revision 01, Date:

41 Software activates the remote operation. In this case (independent of the settings of Continuos Telegrams) telegrams are no longer generated, but only remote frames with the corresponding address are answered. allows to freeze the output for 0 to 20 telegrams, i. e. the values at the time of the positioning pulse output are preserved. allows to switch the byte order of multibyte values. The CAN status register is displayed in the uppermost line of the menu. This information may be used for simple diagnosis CANopen CAN offline : / int.status: 8801 TxBuf: 20 SR = 60: NO ERROR / / / EWRN / (C)ANopen active 1 (N)ode ID: [1..127]: 1 CAN-(B)aud [20,50,125,250,500,1000 kb]: (1) TPDO 1 mode [1..240,255]: 255 (2) TPDO 1 Event time [0, ms]: 8 (3) TPDO 1 Inhibit time [0, ms]: 0 (4) TPDO 2 mode [1..240,255]: 255 (5) TPDO 2 Event time [0, ms]: 8 (6) TPDO 2 Inhibit time [0, ms]: 0 (7) TPDO 3 mode [1..240,255]: 255 (8) TPDO 3 Event time [0, ms]: 8 (9) TPDO 3 Inhibit time [0, ms]: 0 (H)eartbeat time [0, ms]: 0 (A)utostart 1 (F)reeze Values for n Telegrams [0..20]: 0 (O)rder of Data Transfer (0= HiByte first): 0 Figure 19 (Q)uit Menue Screenshot: CANopen menu In addition to the status line described in the previous section, the state of the CAN bus is displayed: Bus online changes to Bus offline if e.g. the CAN bus is unplugged or because of a lacking terminator. Besides that the CAN open Node states stopped, preoperational or operational are displayed. NOTE! Before being able to use the CANopen interface it must be activated by pressing. The basic CAN will automatically be disabled. The following keys have a specific function: - with the node address in a range from 1 to 127 can be chosen. - by pressing the listed baudrates can be chosen, the function autobaud is not implemented. Deviating baudrates and sample points can be configured via the basic CAN menu (see on page 40). English, Revision 01, Date:

42 Software - by using key the PDO_1 operational mode can be selected. Choosing a value between 1 and 240 the synchronous, cyclical mode can be picked. By selecting 255 the asynchronous mode is set. The two following modes are only available in the asynchronous mode: - is the cycle time of the PDO_1 transmission. If both values are 0, PDO_1 will no be transmitted. - is the inhibit time of PDO_1. In PDO_1 the system status and the calculated distances are transmitted. The inhibt time is the shortest time period between two periods that can be achieved. - by pressing the operational mode of PDO_2 is selected. Choosing a value between 1 and 240 the synchronous, cyclical mode can be chosen. By selecting 255 the asynchronous mode is set. The two following modes are only available in the asynchronous mode: - is the time of the cycle of the PDO_2 transmission. If both values are 0, PDO_2 will no be transmitted. - is the inhibit time of PDO_2. In PDO_2 the four analog antenna voltages are transmitted. The inhibt time is the shortest time period between two periods that can be achieved. - By pressing the operational mode of PDO_3 is selected. Choosing a value between 1 and 240 the synchronous, cyclical mode can be chosen. By selecting 255 the asynchronous mode is set. The two following modes are only available in the asynchronous mode: - is the time of the cycle of the PDO_3 transmission. If both values are 0, PDO_2 will no be transmitted. - is the inhibit time of PDO_3. In PDO_3 the four analog antenna voltages are transmitted. The inhibt time is the shortest time period between two periods that can be achieved. - changes the so called Heartbeat time. A control message is sent. If the time equals 0 no message is sent and the node guarding is active (see on page 27). - with the autostart is (de)activated. - if autostart is deactivated only the Heartbeat message (if activated) is sent after turning on the device. The device is in preoperational state. - if autostart is activated the Heartbeat message (if activated) and the PDOs are sent immediately after turning on the device. The device is in operational state. - offers the option to freeze the output of the Y deviation for 0 to 20 telegrams, so that e.g. the value at the time of the positioning pulse output is preserved. - by pressing the order of the bytes within the PDOs is changed: by choosing Lowbyte first = 1 the low order byte of a 16bit word is transmitted first. English, Revision 01, Date:

43 Software (D)isplay Systemstatus Here the status bit is output (see. Table 5 on page 18). All status values that are set are shown. As soon as a value is reset it is immediately removed from the output Cs(v) For diagnosis, it is possible to start the output of the values Code, U Sum, X-, Y-Deviation, the states Transponder in field, Code OK, SEGMENT-, Positioning pulse (also refer to Table 5 on page 18), number of code readings (Read), number of code reading failures (N) and in addition a telegram counter in CSV format (Comma Separated Values; especially for processing text files with programs for table calculation). Data output is carried out with Bd, 8 bit and even parity, until it is terminated by pressing the key, after which the Antenna is reset to its original condition (not monitor mode) with the saved parameters. The CSV output could e. g. be saved using the program HyperTerminal (also refer to section 5.1 on page 29). To do so, use the function record text... of menu Transmission and insert a file name (this file name should have the ending.csv, in order to enable the table calculation program to automatically detect this file later). Once the file has been recorded and closed under HyperTerminal, it may be loaded into a spreadsheet program (e. g. Microsoft Excel, OpenOffice Calc,...). When opening the file, the spreadsheet program prompts various options. Select the option that indicates that this file consists of comma separated values. Then the data may be processed as diagrams or recorded as native spreadsheet file (Y) Display Histogram This menu displays the voltages induced by a Transponder into the individual scan coils for the X and Y direction. Y_Histogram, press any key to return dev. Y dev. X >1000:... >1000:... > 900:... > 900:... > 800:... > 800:... > 700:... > 700:... > 600:... > 600:... > 500:... > 500:... > 400:...oo... > 400:...ooo... > 300:...oOOOOo... > 300:...oOOOOo... > 200:...OOOOOOOO... > 200:...OOOOOOO... > 100:...oOOOOOOOO... > 100:...OOOOOOOOo <<<< >>>> <<<< >>>>> : : 31 Figure 20 Menu: (Y) display Histogram Each column represents one coil. A voltage value is represented by a row of Os. These values were already converted using the correction values. English, Revision 01, Date:

44 Software Directly underneath the histograms, the values used for the respective position calculations are marked as <<<<M>>>>. Below this row, the calculated positions with minimum, actual, and maximum values are displayed. Pressing any key returns to the main menu (W)rite Transponder Transponders can not only be programmed using the corresponding system command (see Table 6 on page 19 / Table 11 on page 24) but also by entering. Therefore, enter a max. 5 digit code as hex number. Then put a RW transponder in reading distance in the antenna field and run the programming with (L)oad User parameters to EEProm This submenu enables saving the parameters within a non-volatile memory once the corresponding password 815 has been entered. This is necessary in order to store changes as permanent settings (U)pdate Firmware This item offers the option of a software update without having to disconnect and reconnect the power supply. However, first it is necessary to install the update program as described in section 5.3 on page 45. Then prepare the flash program as follows: 1. Close the COM port connection in HyperTerminal. 2. Open the flash program. 3. Select the COM-Port in the flash program, via which the antenna is currently connected to your PC. 4. Select the hex file to be programmed. 5. Now return to Hyperterm and open the COM port again. Then press within the main menu. The password to be entered is the same as listed in section Explanatory text is shown. - Within the next 20 sec. close the COM-Port in Hyperterm e.g. by using the icon, switch over to the flash program and start the programming. - Once the programming is completed, return to Hyperterm, wait 10 sec., re-connect the COM-Port (e. g. via the icon ) and then re-start the monitor mode (as explained in section on page 31) Import (1) / export (2) User Parameter It is possible to store or load all user parameters on or from a host PC via XMODEM file transfer protocol: - With you can import a parameter file from a host. After pressing that key you should start an XMODEM file transfer within 50 seconds. When using Hyperterm go to Transfer > Send file > XMODEM > File name. If the message Success is displayed the file has been checked and loaded into the parameter RAM. To preserve the loaded values you should transfer them into the EEPROM (see on page 44). English, Revision 01, Date:

45 Software - With you can export user parameters to a host. After pressing that key you should start an XMODEM file transfer. When using Hyperterm go to Transfer > Receive file > XMODEM > Folder and then specify a file name. The file is transferred and the message Success should be displayed P(r)int Parameters Enables writing the system parameters into terminal program file (e. g. Hyperterm). 5.3 Software Update (Antenna Software) It is possible to update the software of the integrated interpreters via the serial interface using a portable PC. Following switching-on, the integrated download unit will check for approx. 10 seconds whether a download is to be carried out. In case a download is not generated, the unit will return to the normal operating program. Data received during this period of 10 seconds are examined for their validity. NOTE! Only the update program described below may be used for the software update! Installation of the Program for Software Update The program for the antenna software update is a 32-bit application for Microsoft Windows. Upon request, this program is sent by . Please address your requests to the , phone, fax or mailing address given on the cover of this manual. In order to install the program execute the file ST-Flasher2_setup.exe. In order to use the flash program afterwards, start ST10-Flasher.exe. English, Revision 01, Date:

46 Software Software Update While the software update is carried out, no other programs may occupy the used serial interface (COM-Port). Thus, terminate any such connections in your Terminal program (e. g. Hyperterm). Connect the antenna with your PC. Start the update program on your PC as described in section on page Selection of the Hex file to be transmitted 2 Selection of the serial interface and baud rate (max Baud) 3 This option must always be activated 4 Start the programming procedure 5 Status messages 6 Exit the program Figure 21 Update program: Operating Elements Start the programming process by switching the antenna on and then click Program within a period of 10 seconds. A device reset follows and after a short period of time, the file is being transmitted. If an error occurs during the transmission, red colored status messages are shown. As long as green colored messages are output, the software update is correct. Figure 22 The last 2 messages of a normal update procedure are: ProgramFlash: Ok and Close- Com: Ok Update program: programming procedure Once the programming process is completed, the program can be closed (close). The antenna is restarted automatically and uses the new program. English, Revision 01, Date: